Hello Philippe, see Gavin's reply for clarification on in/out and Rx/Tx
> Outputs: > - SM0: DC Sync Activate > - SM1: DC Sync Start > - SM2: Channel 1 & 2 outputs Your `ethercat pdo` report seems in agreement > Inputs: > - SM3: SysTime and Feedback Those show 'unticked' in my twcat by default (xml entries have no default SM). The mapping has to be done by hand, some ecrt_slave_config_pdos() in your application startup. Matthieu On 1/22/13 7:39 AM, hamelin.phili...@ireq.ca wrote: > Hi, > > as far as I know, given that the device doesn't support CoE, the PDO > informations are fetched in the SII eeprom by Etherlab. Am I right? > > So if TwinCat doesn't give me the same PDO informations are Etherlab, > there may be two reasons: > > a) Etherlab doesn't interpret the SII correctly (I would be surprised of > that) > b) TwinCAT doesn't interpret the SII, but the XML file which may be more > complete > > Any comments are welcome, thank you! > > Philippe > > ------------------------------------------------------------------------ > *De :* etherlab-users-boun...@etherlab.org > [mailto:etherlab-users-boun...@etherlab.org] *De la part de* > hamelin.phili...@ireq.ca > *Envoyé :* 21 janvier 2013 16:42 > *À :* etherlab-users@etherlab.org > *Objet :* Re: [etherlab-users] EL2252: SII eeprom and XML config mismatch > > Hi again, > > let me correct my interpretation: > > SM2 is and must be a RxPDO. The problem is rather on SM0 and SM1 which > should be also RxPDO. Also, I generated a SII binary file using TwinCat, > then uploaded the content to the slave. However, except that the > description of the slave is now in english instead of deutch, I get the > same result. It's very strange that the new SII didn't resolved the > problem. In TwinCat, the sync manager and pdo mapping is correctly shown > with respect to the XML file. However, it's like the generated SII > binary file doesn't match? > > Thank you, > > Philippe > > ------------------------------------------------------------------------ > *De :* etherlab-users-boun...@etherlab.org > [mailto:etherlab-users-boun...@etherlab.org] *De la part de* > hamelin.phili...@ireq.ca > *Envoyé :* 21 janvier 2013 15:48 > *À :* etherlab-users@etherlab.org > *Objet :* [etherlab-users] EL2252: SII eeprom and XML config mismatch > > Hi, > > I'm having troubles using the Beckhoff EL2252 with Etherlab. According > to the documentation and the XML file, I should have 5 sync managers: > > Outputs: > - SM0: DC Sync Activate > - SM1: DC Sync Start > - SM2: Channel 1 & 2 outputs > > Inputs: > - SM3: SysTime and Feedback > > However, when connecting the slave to the Etherlab master I get the > following config (which is fixed by the device): > > $ ethercat -p 1 pdo > SM0: PhysAddr 0x0981, DefaultSize 0, ControlRegister 0x00, Enable 12 > TxPDO 0x1602 "DC Sync Activate" > PDO entry 0x1d09:81, 8 bit, "Activate" > SM1: PhysAddr 0x0990, DefaultSize 0, ControlRegister 0x00, Enable 4 > TxPDO 0x1603 "DC Sync Start" > PDO entry 0x1d09:90, 64 bit, "StartTime" > SM2: PhysAddr 0x0f00, DefaultSize 0, ControlRegister 0x44, Enable 9 > RxPDO 0x1600 "Channel 1" > PDO entry 0x7000:01, 1 bit, "Output" > PDO entry 0x7000:02, 1 bit, "TriState" > RxPDO 0x1601 "Channel 2" > PDO entry 0x7010:01, 1 bit, "Output" > PDO entry 0x7010:02, 1 bit, "TriState" > PDO entry 0x0000:00, 4 bit, "" > RxPDO 0x1604 "Reserved" > SM3: PhysAddr 0x0910, DefaultSize 0, ControlRegister 0x00, Enable 4 > SM4: PhysAddr 0x1000, DefaultSize 0, ControlRegister 0x00, Enable 4 > > Is doesn't make any sense to me that SM2 is a RxPDO since this is the > output state that the master should provides. Moreover, the PDO mapping > is fixed by the device so I can't configure my own mapping. I see two > possibles problems: > > a) The SII eeprom isn't correct; > or, > b) I don't understand the meaning of these lines :-) > > Any ideas? > > Thank you, > > ------------------------------------ > Philippe Hamelin, ing., M. Ing > Chercheur / Researcher > > T: 450-652-8499 x2198 > F: 450-652-1316 > > Expertise robotique et civil > Institut de recherche d'Hydro-Québec (IREQ) > 1740, boul. Lionel-Boulet > Varennes (QC) J3X 1S1, Canada > > > > _______________________________________________ > etherlab-users mailing list > etherlab-users@etherlab.org > http://lists.etherlab.org/mailman/listinfo/etherlab-users > _______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users